function draw = draw()
    draw=0;
    BIAS = -0.1;
    Ts = 1/5;
    quad = Quad(Ts);
    [xs, us] = quad.trim(); 
    sys = quad.linearize(xs, us);
    [sys_x, sys_y, sys_z, sys_yaw] = quad.decompose(sys, xs, us);
    mpc_x = MPC_Control_x(sys_x, Ts);
    mpc_y = MPC_Control_y(sys_y, Ts);
    mpc_z = MPC_Control_z(sys_z, Ts);
    mpc_yaw = MPC_Control_yaw(sys_yaw, Ts);
    sim = quad.sim(mpc_x, mpc_y, mpc_z, mpc_yaw,BIAS);
    quad.plot(sim);


end